Directed Graphs and Motion Description Languages for Robot Navigation and Control

@inproceedings{HristuVarsakelis2002DirectedGA,
  title={Directed Graphs and Motion Description Languages for Robot Navigation and Control},
  author={Dimitrios Hristu-Varsakelis and S. Andersson},
  year={2002}
}
We propose a landmark-based representation of maps to be used for robot navigation and exploration. Our approach is aimed towards mobile robots that operate over expansive, imprecisely known terrain without a single “global” map. Instead, a map is pieced together from local terrain and navigation data stored in a directed graph. Each of the graph’s vertices… CONTINUE READING